Dev Call March 20, 2023

CraigElder · March 20, 2023, 10:57pm

Issues & Pull Requests

github.com/ArduPilot/MAVProxy

link: add option to watch messages verbosely

ArduPilot:master ← peterbarker:pr/watch-verbose

opened 12:34AM - 02 Mar 23 UTC

peterbarker

+37 -10

- factors the watch stuff into a method - allows --verbose to show details abo…ut the messages going back and forth: Note the additional useful information below if which system we are getting the ACK from: ``` LOITER> watch --verbose COMMAND_ACK LOITER> Watching ['COMMAND_ACK'] LOITER> LOITER> LOITER> arm throttle LOITER> Got COMMAND_ACK: COMPONENT_ARM_DISARM: ACCEPTED < 2023-03-02 11:32:00.25: COMMAND_ACK (id=77) (link=None) (signed=False) (seq=184) (src=1/1) command: 400 (MAV_CMD_COMPONENT_ARM_DISARM) result: 0 (MAV_RESULT_ACCEPTED) progress: 0 result_param2: 0 target_system: 145 target_component: 230 Got COMMAND_ACK: COMPONENT_ARM_DISARM: DENIED < 2023-03-02 11:32:00.26: COMMAND_ACK (id=77) (link=None) (signed=False) (seq=16) (src=1/154) command: 400 (MAV_CMD_COMPONENT_ARM_DISARM) result: 2 (MAV_RESULT_DENIED) progress: 0 result_param2: 0 target_system: 145 target_component: 230 watch COMMAND_ACK LOITER> Watching ['COMMAND_ACK'] LOITER> LOITER> arm throttle LOITER> Got COMMAND_ACK: COMPONENT_ARM_DISARM: ACCEPTED < COMMAND_ACK {command : 400, result : 0, progress : 0, result_param2 : 0, target_system : 145, target_component : 230} Got COMMAND_ACK: COMPONENT_ARM_DISARM: DENIED < COMMAND_ACK {command : 400, result : 2, progress : 0, result_param2 : 0, target_system : 145, target_component : 230} watch LOITER> arm throttle LOITER> Got COMMAND_ACK: COMPONENT_ARM_DISARM: ACCEPTED Got COMMAND_ACK: COMPONENT_ARM_DISARM: DENIED ``` This work sponsored by Harris Aerial

github.com/ArduPilot/ardupilot

Dds prototype

ArduPilot:master ← arshPratap:ddsPrototype

opened 03:53PM - 15 Jun 21 UTC

arshPratap

+1310 -1

Hello Ardupilot community! This PR is work in progress and consists of the prot…otype code that aims to provide DDS functionality to Ardupilot for effective communication with ROS2 and Native DDS implementations Added 2 IDL files - A simple Num idl to test the xrce dds functionality - AP_INS idl file for sending INS info Added the eProsima XRCE Client lib as submodule Provides Ardupilot an XRCE client to communicate with DDS/ROS2 through : Serial(Main focus) UDP(Only for testing,to be removed in final version) Current Issues - [x] Have tested the code through serial communication and sometimes it is found that data is not properly flushed out in the serial ports resulting in communication to XRCE agent being cut.Working on implementing a function to take care of this issue. - [x] Have doubts related to setting up the build system to install the XRCE Client from the necessary submodules Thanks !

github.com/ArduPilot/ardupilot

Copter: Add TKOFF_TH_MAX

ArduPilot:master ← lthall:20230315_Takeoff_Throttle_Max

opened 01:29PM - 15 Mar 23 UTC

lthall

+10 -2

This PR follows the discussion here: https://discuss.ardupilot.org/t/feedback-a…nd-assistance-with-new-takeoff-behaviour/ This PR provides the ability for the user to specify the throttle point where the vertical position controller will initialise and take over from the linear throttle ramp. If the takeoff detection is activated before this then there will be no change in behaviour. Aircraft setup with high vertical climb rates and acceleration settings will detect takeoff at a higher threshold as these parameters are used to define the detection point. These thresholds are hard coded to 50% acceleration and 10% velocity. By setting this parameter below hover throttle a user could get a fast thrust slew to that point then let the vertical position controller lift the aircraft off the ground. Further if the user has high vertical acceleration this parameter can be set just above hover throttle to prevent too much power being applied when using a fast ramp time.

github.com/ArduPilot/ardupilot

AP_GPS: decouple status enumeration from MAVLink fix types

ArduPilot:master ← peterbarker:pr/gps-defines-asserts

opened 02:49AM - 16 Mar 23 UTC

peterbarker

+34 -8

This moves us towards being able to compile the GPS library without having the M…AVLink headers available. We shouldn't need those headers when building for Periph. If the headers are available then we ensure our values match mavlink so we can do a simple cast from one to the other ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M * * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

GCS_MAVLink: deprecate use of MISSION_SET_CURRENT message

ArduPilot:master ← peterbarker:pr/deprecate-mission-current

opened 10:19AM - 16 Mar 23 UTC

peterbarker

+21 -0

The mavlink command MAV_CMD_DO_SET_MISSION_CURRENT has been in place since Janua…ry 2019 and is superior to this. ArduPilot has had support since 2021 (4.1.x but not 4.0.x) We have to get GCSs to move forward! Before we can do that PX4 has to support the command. A GCS could try the command and if it gets back an UNSUPPORTED try the message instead. I'm not intending tthe message to be technically deprecated any time soon - raising for discussion on DevCall to make sure people are OK with me putting out an announcement on ArduPilot's GCS maintainers list suggesting people move to the command in their GCSs rather than the message. Eventually this will save ~240 bytes on MatekF405-Wing when we can remove support for this message.

github.com/ArduPilot/ardupilot

Tools: Param Parse: multi line @Values

ArduPilot:master ← IamPete1:param_parse_multi_value

opened 02:09PM - 17 Mar 23 UTC

IamPete1

+159 -8

Allows formatting to be reworked making it much easier to read and reducing conf…licts. No change in parsed output. Is a little odd in that if there is a a `@Values{vehicle}` anywhere all `@Values` without a vehicle type will be ignored. This means if something does apply to all vehicles it needs them all to be called out. eg: `@Values{Copter, Rover, Plane, Blimp}: 0:Do Nothing`. A new "all" tag might make this less painful. The next one would be the servo functions. Again there its a little more complicated, because there is a full list and then a vehicle list for copter plane and rover. So in that case we need everything twice eg: ``` // @Values: -1:GPIO // @Values{Copter, Rover, Plane}: -1:GPIO // @Values: 0:Disabled // @Values{Copter, Rover, Plane}: 0:Disabled ``` We can't just take the none vehicle value if there is no vehicle one, because the vehicle wants to exclude as well as include options. We could make a super set of all the vehicle parameters for the generic, but we currently have some conflicting values. EG: ``` // @Values{Copter, Rover}: 4:RTL // @Values{Plane}: 4:ModeRTL ... // @Values{Copter}: 30:Lost Copter Sound // @Values{Rover}: 30:Lost Rover Sound // @Values{Plane}: 30:Lost Plane Sound ... // @Values{Copter, Rover, Plane}: 153:ArmDisarm (4.2 and higher) // @Values{Blimp}: 153:ArmDisarm ``` Of course we could unify those between vehicles, but that would make this PR a change to the parsed output.

github.com/ArduPilot/ardupilot

Remove coupling between AP_RCProtocols SRXL2 and DSM

ArduPilot:master ← peterbarker:pr/move-configure_vtx-to-rc-backend

opened 12:38AM - 19 Mar 23 UTC

peterbarker

+74 -65

Having the DSM backend calling into the SRXL2 backend isn't nice, so this fixes …that. Two commits, one changing namespaces the other moving the code into the correct files. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal 0 * 0 0 0 0 0 Hitec-Airspeed * KakuteH7-bdshot 0 * 0 0 0 0 0 MatekF405 0 * 0 0 0 0 0 Pixhawk1-1M 0 * 0 0 0 0 0 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini 0 * 0 0 0 0 0 skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

tidy enablement RC FastSBUS support

ArduPilot:master ← peterbarker:pr/rc-fastsbus-enabled-to-config

opened 02:38AM - 19 Mar 23 UTC

peterbarker

+7 -8

Saves a few bytes on SkyViper as now the backend is disabled (SkyViper turns bac…kends off by default) ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M * * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 -48 ```

github.com/ArduPilot/ardupilot

Add and use AP_RC_CHANNEL_ENABLED

ArduPilot:master ← peterbarker:pr/rc-channel-enabled

opened 10:58AM - 19 Mar 23 UTC

peterbarker

+69 -10

This is taken from a much larger work to add RC Protocol support into AP_Periph … ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M * * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.3.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [ ] display …message on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] add waf docs target? - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [ ] more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212 - [x] fix pitch limit in FBWA for transition: https://github.com/ArduPilot/ardupilot/pull/22730 - [ ] after a bounce off the ground, PIQA.I can peg high (seen in Alia model) - [ ] switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode - [ ] ARSPD_TUBE_ORDER=3 to auto-detect order - [ ] MS4525 probe all buses not working in 4.3 after update from 4.2 - [ ] rudder arming causes yaw in AUTO takeoff #22665 - [ ] VTOL approach can turn overshoot if WP_LOITER_RAD is small - [ ] COMPASS_DIA_X of zero not treated as 1.0 #22666 - [x] level cal not clearing 3d accel cal needed msg? - [ ] CubeOrangePlus param diff BAT*PIN doesn't show changes - [ ] not using full throttle in non-airspeed takeoff: https://github.com/ArduPilot/ardupilot/issues/22572 - [ ] random voltages with voltage pin -1 - [ ] large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX? - [x] with RTL autoland: Mode change to AUTO denied, in fence recovery - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] annoying msg Cannot calibrate with Q_TRIM_PITCH set - [ ] not fully resetting tdrag takeoff state on new takeoff - [ ] ICE idle governor in Q modes while disarmed - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover-4.3 issues list

opened 11:50PM - 12 Sep 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.3 testing. For re…ference [Copter-4.3 project](https://github.com/ArduPilot/ardupilot/projects/25), [Copter/Rover-4.2 issues](https://github.com/ArduPilot/ardupilot/issues/20192) Reports requiring investigation - [ ] CSRF on Matek h743 slim ([discussion](https://discuss.ardupilot.org/t/copter-4-3-5-released/98158/10)) - [ ] Yaapu telemetry failing somehow related to 2nd battery ([discussion](https://discuss.ardupilot.org/t/copter-4-3-5-rc1-released-for-beta-testing/97674)) - [ ] KDECAN not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22952), [discussion](https://discuss.ardupilot.org/t/kdecan-telemetry-not-working-in-4-3-series-firmware/96730)) - [ ] internal error on takeoff ([discussion](https://discuss.ardupilot.org/t/consistently-getting-internal-error-0x100000-i-57-flow-of-ctrl/95839)) - [ ] waiting for terrain data in stabilize mode with ter_pend = 0 ([discussion](https://discuss.ardupilot.org/t/prearm-waiting-for-terrain-data-i-couldnt-get-rid-of-the-error/95415/19)) - [ ] trajectory discrepancy in Non-GPS ([discussion](https://discuss.ardupilot.org/t/huge-trajectory-tracking-error-when-using-position-velocity-typemask/95483)) - [ ] baro drift before takeoff leads to flip ([discussion](https://discuss.ardupilot.org/t/barometer-drift-before-takeoff/95436)) - [ ] balancebot not protecting backwards? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta5-available-for-beta-testing/93379/7)) Copter specific issues (confirmed to be real) - [ ] RTL_SPEED does not work if WPNAV_SPEED adjusted ([also in 4.4 issues list](https://github.com/ArduPilot/ardupilot/issues/23192), [PR](https://github.com/ArduPilot/ardupilot/pull/23220)) - [ ] NMEA Output GGA message bug ([issue](https://github.com/ArduPilot/ardupilot/issues/23157)) - [ ] Copter do-change-speed mission command not working after takeoff command ([discussion](https://discuss.ardupilot.org/t/mission-ignoring-do-change-speed-flying-wpnav-speed-instead/90815), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) -- existing issue in 4.2 as well Rover specific (confirmed to be real) - [ ] RoverS-Curves don't track a straight line as well as L1 ([issue](https://github.com/ArduPilot/ardupilot/issues/22183)) - [ ] internal error when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta2-has-been-released/91551/3)) - [ ] MP basic tuning screen needs updating for S-Curves ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/4)) GCS specific issues (confirmed to be real) - [ ] Mission Planner needs updates for MNT1_ param name changes ([Plane user issue](https://github.com/ArduPilot/ardupilot/issues/21989), [Copter](https://discuss.ardupilot.org/t/gimbal-configuration-is-not-possible/93396/11)) Wiki related requests: - none Enhancement Requests (may or may not be done) - [ ] Servo pitch+yaw gimbal should use pitch servo to correct yaw when vehicle is rolled 90deg ([discussion](https://discuss.ardupilot.org/t/gimbal-poi-feature/92234/7), [enhancement request](https://github.com/ArduPilot/ardupilot/issues/22440)) -- future enhancement --- Resolved Issues - [x] Rover-4.4.0 with RTK UM980 doesn't find GPS ([discussion](https://discuss.ardupilot.org/t/about-rtk-module-supporting/95348)) -- pin out diagram was incorrect - [x] USD1 rangefinder on CAN interferes with DroneCAN GPS ([discussion](https://discuss.ardupilot.org/t/unable-to-use-gps-and-rangefinder-on-can-ports-1-and-2/97535/3)) -- user config error - [x] AHRS_TRIM_XY over 7.5 deg interferes with landing detector -- resolved in Copter-4.3.5-rc1 - [x] duplicate log FMT messages ([issue](https://github.com/ArduPilot/ardupilot/issues/22662), [PR](https://github.com/ArduPilot/ardupilot/pull/22670)) -- resolved in master - [x] Gremsy driver sending gimbal feed-forward values when vehicle is disarmed and pilot provides yaw input ([PR](https://github.com/ArduPilot/ardupilot/pull/22604)) -- resolved for 4.3.4 - [x] Surface Tracking oscillation with US-D1 lidar ([discussion](https://discuss.ardupilot.org/t/massive-amounts-of-noise-on-us-d1-radar-rangefinder-leads-to-erratic-altitude-hold/93132)) - [x] Surface Tracking using raw lidar instead of filt or interpolated leads to momentary fast climb ([PR](https://github.com/ArduPilot/ardupilot/pull/22611)) -- resolved for 4.3.4 - [x] Internal Error I:917 ([discussion1](https://discuss.ardupilot.org/t/internal-errors-0x100000-l-917-flow-of-ctr/87033/3), [discussion2](https://discuss.ardupilot.org/t/internal-errors-0x100000-i-921-flow-of-ctr-twitching-motion-in-loiter-during-forward-flight/93126), [discussion3](https://discuss.ardupilot.org/t/prearm-internal-errors-0x100000-l-921-flow-of-ctrl/93986), [PR](https://github.com/ArduPilot/ardupilot/pull/22298)) -- resolved for Copter-4.3.3-rc1 - [x] gimbal yaw jumps to far left when RC input > 1700 ([issue](https://github.com/ArduPilot/ardupilot/issues/22225), [PR](https://github.com/ArduPilot/ardupilot/pull/22442)) -- resolved for 4.3.3-rc1 - [x] baro alt error 5808m ([discussion1](https://discuss.ardupilot.org/t/copter-4-3-1-rc1-available-for-beta-testing/93378/7), [discussion2](https://discuss.ardupilot.org/t/prearm-error-gps-alt-error-5850m-see-baro-alterr/94099/3)) -- needed to set BARO_OPTIONS = 1 - [x] Kakute H7 V2 config error ([discussion](https://discuss.ardupilot.org/t/holybro-kakute-h7-v2-config-error-ins-unable-to-initialise-driver/92003)) -- resolved for 4.3.0-beta3 - [x] Arming check for slow loop rate triggering during motor test and compassmot ([issue](https://github.com/ArduPilot/ardupilot/issues/22388), [PR to revert for 4.3](https://github.com/ArduPilot/ardupilot/pull/22413)) - [x] message rates from a file not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22361), [PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4820)) -- wiki dev docs were wrong, fixed with PR - [x] slow param download with Pixracer on 4.3 vs 4.2 ([discussion](https://discuss.ardupilot.org/t/slow-parameter-loading-in-4-3/94075/3)) -- cannot reproduce, no response to request for logs - [x] AHRS and GPS differ pre-arm when doing non-GPS nav ([issue](https://github.com/ArduPilot/ardupilot/issues/22383), [PR](https://github.com/ArduPilot/ardupilot/pull/22393)) -- resolved for 4.3.3-rc1 - [x] SBus output not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14)) -- could not reproduce, receiver outputting SERIAL_CONFIG_8E1I instead of SERIAL_CONFIG_8E2I - [x] Gremsy gimbal not reaching Pitch limits in RC_Targetting (angle mode) ([discussion](https://discuss.ardupilot.org/t/ardupilot-4-3-gremsy-gimbal-improvements-testers-wanted/86479/38)) -- no logs, cannot progress - [x] Sporty takeoff ([discussion](https://discuss.ardupilot.org/t/feedback-and-assistance-with-new-takeoff-behaviour/94121)) -- change in behaviour, Leonard says param changes fix it - [x] prearm RNGFND1_PIN=103, set SERVO3_FUNCTION=-1. ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14), [PR](https://github.com/ArduPilot/ardupilot/pull/22375)) -- resolved for Copter-4.3.3 - [x] boot fails if too many dshot LEDs ([issue](https://github.com/ArduPilot/ardupilot/issues/22263), [discussion](https://discuss.ardupilot.org/t/problem-in-copter-4-3-with-the-subsytem-led-preventing-the-drone-from-startup/93992)) -- classified by Andy as an enhancement request. - [x] Siyi A8 mount always unhealthy ([discussion](https://discuss.ardupilot.org/t/siyi-a8-mini-4k-ai-mini-zoom-gimbal-camera-ai-identify-tracking-4k-1-1-7-inch-8mp-sony-sensor-6x-zoom/92133/30), [PR](https://github.com/ArduPilot/ardupilot/pull/22313)) -- resolved for 4.3.1 - [x] AutoTune gains not loaded during pilot testing ([PR](https://github.com/ArduPilot/ardupilot/pull/22193)) -- resolved for 4.3.2 - [x] Solo gimbal not pointing down past 45 deg ([issue](https://github.com/ArduPilot/ardupilot/issues/22190)) -- RC6_TRIM issue - [x] Gimbal yaw-reset after pitch changed ([issue](https://github.com/ArduPilot/ardupilot/issues/22095)) -- QGC gimbal control issue - [x] wheel encoder noise ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783)) -- user frame issue. - [x] Gremsy gimbal overloaded with high update rate of vehicle attitude messages ([PR](https://github.com/ArduPilot/ardupilot/pull/22151)) -- resolved for 4.3.1-beta1 - [x] User can't find Benewake H30 lidar ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/5)) -- not on sale yet - [x] SkyViper Journey broken (4.0.8 works, >4.1 does not) ([issue](https://github.com/ArduPilot/ardupilot/issues/21932), [PR](https://github.com/ArduPilot/ardupilot/pull/22134)) -- resolved for 4.3.1-beta1 - [x] request for help setting up secure boot ([discussion](https://discuss.ardupilot.org/t/secure-boot-support/90991)) - [x] Rover S-Curve tuning instructions ([wiki](https://ardupilot.org/rover/docs/rover-tuning-navigation.html)) - [x] AP_GPS: Auto baud detection broken for SBF, Novatel, GSOF, SITL ([issue](https://github.com/ArduPilot/ardupilot/issues/21771), [PR](https://github.com/ArduPilot/ardupilot/pull/21830)) -- resolved for beta2 - [x] DO_JUMP commands not initialised if wp set before arming ([PR](https://github.com/ArduPilot/ardupilot/pull/21769)) -- resolved for 4.3.0-beta2 - [x] RPM harmonic notch not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/20898), [PR](https://github.com/ArduPilot/ardupilot/pull/21717)) -- resolved for beta2 - [x] MambaF405mk4 includes mini version? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/6)) - [x] Mount's default mode not working for SToRM32 MAVLink (also not working in 4.2) ([PR](https://github.com/ArduPilot/ardupilot/pull/21737)) -- fixed for beta2 - [x] NeoPixel LEDs on ESC1,2 on SkystarsH7HD not working ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-beta1-released/90782/10)) -- known hardware limitation related to PWM grouping

CraigElder · March 21, 2023, 1:24am

Attendee count (max): 16

UTC1101 - link: add option to watch messages verbosely by peterbarker · Pull Request #1155 · ArduPilot/MAVProxy · GitHub

Merged
Watch messages verbosely

UTC1103 - Dds prototype by arshPratap · Pull Request #17779 · ArduPilot/ardupilot · GitHub

DDS prototype
Peter is reviewing
4.5 feature?
- Yes, but branching might happen soon
- Tridge will approve and merge Sid’s additional IMU support
  - Done!
Tridge is going to create Plane 4.4 now
- Done!
Peter wants a way to build it on custom build server
- Could do this with an env setting in hwdef.dat at configure time
  - If cfg.options.enable_dds or cfg.env.enable_dds
- Could support this after initial PR
Peter’s review should be focussing on danger to other bits
Would need to fail at compile time rather than build time if we wanted a hwdef-style define
Enable by default in SITL, likely disable in other boards for now or premium
Could build with less flash space using -Os
Would want enabled on RPI combo board from Cube Pilot and Holybro
Pierre added CI support, once this is merged to PR and build passes, it can merge

UTC1117 - Update rate vs guided yaw rate by lthall · Pull Request #23103 · ArduPilot/ardupilot · GitHub

Guided yaw rate vs update rate
As you make requests faster the achieved yaw rate decreases
- This fixes that
Test fails before and passes after Leonard’s changes
Merged!

UTC1123 - Plane:rudder arm in AUTO/TAKEOFF only after stick returns by Hwurzburg · Pull Request #23186 · ArduPilot/ardupilot · GitHub

Arming rudder documentation has been fixed
This changes things so things only arm in auto and takeoff modes after stick returns to center
Is this in the right spot?
- This delays arming, should we actually just not do anything when armed?
Checks will be moved to plane auto-takeoff area
- Will be in a consistent place

UTC1134 - AP_EFI: avoid requesting data too often by peterbarker · Pull Request #23213 · ArduPilot/ardupilot · GitHub

10Hz rather than 5Hz
Some sort of table-of-offsets/lengths
Change to 10Hz and make sure MdB is OK
OK to merge if 10Hz is OK

UTC1143 - AC_WPNav: Stop parameter changes overriding speeds by lthall · Pull Request #23220 · ArduPilot/ardupilot · GitHub

Stop parameter changes overriding speeds for modes other than auto
E.g. RTL
We’re going to stop parameter changes taking effect immediately
- DO_CHANGE_SPEED should work immediately
RTL speed wasn’t taking effect properly
- The parameter change in the past would override it!
Perhaps entering a different mode should clear the setting in the wpnav controller?
Modes would need to poll their parameters
- Or maybe pass references?
Two uses for WPNAV_SPEED
- One for tuning speed
- One for immediate changes
If we stop honouring this parameter then we run the risk of the user integrating changes do a very high values - and then it suddenly has a massive effect
- We could emit a warning instead
Leonard wants NED in metres!
Maybe a callback onto the vehicle to get current desired speed?
Randy thinks the user interface in the GCSs is really at fault
- Hard to change speed at runtime!
- “Tuning your parameters”
  - Working out correct WPNAV_SPEED
    - Changing the value directly and having an effect makes this nice
    - We’d be changing that
We’re going to get moans from users after we merge this
- But really, really bad speeds in RTL mean you might run out of battery and crash
  - Which did happen!
Set the speed in the rtl init?
- Or a boolean setting as to whether to honour the override
PH thinks an immediate fix for RTL works
- Tridge thinks Positive bool for looking for changes
Decision should be in vehicle code
DS is ready to change QGC
Going to take a long time for changes to filter out

UTC0015 - Copter: Add TKOFF_TH_MAX by lthall · Pull Request #23223 · ArduPilot/ardupilot · GitHub

Parameter to limit takeoff throttle maximum value
Stop the over-commit on pop-up
Low-pop takeoffs
On parameter documentation
- Tridge likes an explanation of when you should change it and when
- PH is worried that makes people read the param description rather than the docs

UTC0025 - AP_GPS: decouple status enumeration from MAVLink fix types by peterbarker · Pull Request #23229 · ArduPilot/ardupilot · GitHub

decouple status enumeration from MAVLink fix types
Had a good think about Ryan’s changed
Remove bogus last static_assert
Merge after that

UTC0034 - GCS_MAVLink: deprecate use of MISSION_SET_CURRENT message by peterbarker · Pull Request #23232 · ArduPilot/ardupilot · GitHub

Deprecate use of MISSION_SET_CURRENT
Peter to put out a message on the mailing list saying GCS authors should use the mavlink command in place of the existing message
We couldn’t compile the message support out for at least 3 or 4 years

UTC0035 - Fix problem where STM32L496 would not init CAN2 by RobertatPegasus · Pull Request #23235 · ArduPilot/ardupilot · GitHub

Fixes periph stuff on L496
Merged!

UTC0036 - Tools: Param Parse: multi line @Values by IamPete1 · Pull Request #23244 · ArduPilot/ardupilot · GitHub

Allow Values to be split across multiple lines in the parameter documentation
Only going to use it in a couple of places, really. RC_Channels and servo channels
Merged!

UTC0038 - AP_HAL_ChibiOS:improve MambaF405MINI defaults by Hwurzburg · Pull Request #23245 · ArduPilot/ardupilot · GitHub

Improve defaults on MambaF405-Mini
Andy has some concerns so maybe a DevCallEU thing?
Uart3 is different between the boards?
- Connectors on the board?
- Protocol should be different or open or whatever?
- GPS conflict - something has to be assigned?
- Maybe assign -1?
- Connector is already on the board…
- Can’t send GPS config blobs at goggles!

UTC0047 - Plane update

Plane 4.4 has been branched!
4.4 beta soon
Anything merged today would have to be a backport
GSF yaw failure
- Initialised very badly
- Paul’s had a bit of a look
Compass-less-fixed-wing handl-launch might be better to move back to the GPS ground course rather than using the GSF
- Lower-quality GPSs can give very bad GSF results

UTC0055 - Copter update

4.1.6 and 4.2.4 need releases
Memory corruption on CubeOrangePlus only back into those?
- ChibiOS backport
Any issues on 4.3?
- Probably no release for it
So next will be 4.4
- There’s a new 4.4 issues list now
- Pinned beside other one
- Terrain alt clamping
- Nasty little bug in MissionPlanner
  - non-GPS often have to set the EKF origin
  - Scaling bug!
  - Altitude is 100* too small
  - Mavlink mm!
  - Do-set-home is scaled correctly

UTC0001 - conference

People start to arrive tomorrow
Probably no DevCall next week
- People just-arrived or jet-lagged
If you haven’t listed yourself in the attendees list that’s a serious problem
- Contact tridge!

UTC0002 - RC_Channel:rename 173 option more appropriately by Hwurzburg · Pull Request #23250 · ArduPilot/ardupilot · GitHub

Fix naming on an RC option
Can be merged once rebased

UTC0004 - Remove coupling between AP_RCProtocols SRXL2 and DSM by peterbarker · Pull Request #23253 · ArduPilot/ardupilot · GitHub

Tridge is happy
Peter to work with Andy and get this in

UTC0007 - tidy enablement RC FastSBUS support by peterbarker · Pull Request #23254 · ArduPilot/ardupilot · GitHub

Tidy fastsbus enablement
Mergd!

UTC0008 - Add and use AP_RC_CHANNEL_ENABLED by peterbarker · Pull Request #23255 · ArduPilot/ardupilot · GitHub

Allow compilation of AP_RCProtocol without RC_Channel
Missing one // tag on #endif
Merge after that

UTC0012 - AP_NavEKF: ensure gyro biases are numbers by andyp1per · Pull Request #23251 · ArduPilot/ardupilot · GitHub

Ensure gyro bias are numbers
Merged!
Peter will follow up with a patch which adds the logging

UTC0018 - Flywoo F745 v2 by andyp1per · Pull Request #23249 · ArduPilot/ardupilot · GitHub

Flywoo f745 v2
Pushed to DevCallEU as tridge isn’t sure Andy meant to change the existing boards
FlyWoo have reached out and they want better contact!

Attendee count (max): 16

UTC1101 - link: add option to watch messages verbosely by peterbarker · Pull Request #1155 · ArduPilot/MAVProxy · GitHub

UTC1103 - Dds prototype by arshPratap · Pull Request #17779 · ArduPilot/ardupilot · GitHub

UTC1117 - Update rate vs guided yaw rate by lthall · Pull Request #23103 · ArduPilot/ardupilot · GitHub

UTC1123 - Plane:rudder arm in AUTO/TAKEOFF only after stick returns by Hwurzburg · Pull Request #23186 · ArduPilot/ardupilot · GitHub

UTC1134 - AP_EFI: avoid requesting data too often by peterbarker · Pull Request #23213 · ArduPilot/ardupilot · GitHub

UTC1143 - AC_WPNav: Stop parameter changes overriding speeds by lthall · Pull Request #23220 · ArduPilot/ardupilot · GitHub

UTC0015 - Copter: Add TKOFF_TH_MAX by lthall · Pull Request #23223 · ArduPilot/ardupilot · GitHub

UTC0025 - AP_GPS: decouple status enumeration from MAVLink fix types by peterbarker · Pull Request #23229 · ArduPilot/ardupilot · GitHub

UTC0034 - GCS_MAVLink: deprecate use of MISSION_SET_CURRENT message by peterbarker · Pull Request #23232 · ArduPilot/ardupilot · GitHub

UTC0035 - Fix problem where STM32L496 would not init CAN2 by RobertatPegasus · Pull Request #23235 · ArduPilot/ardupilot · GitHub

UTC0036 - Tools: Param Parse: multi line @Values by IamPete1 · Pull Request #23244 · ArduPilot/ardupilot · GitHub

UTC0038 - AP_HAL_ChibiOS:improve MambaF405MINI defaults by Hwurzburg · Pull Request #23245 · ArduPilot/ardupilot · GitHub

UTC0047 - Plane update

UTC0055 - Copter update

UTC0001 - conference

UTC0002 - RC_Channel:rename 173 option more appropriately by Hwurzburg · Pull Request #23250 · ArduPilot/ardupilot · GitHub

UTC0004 - Remove coupling between AP_RCProtocols SRXL2 and DSM by peterbarker · Pull Request #23253 · ArduPilot/ardupilot · GitHub

UTC0007 - tidy enablement RC FastSBUS support by peterbarker · Pull Request #23254 · ArduPilot/ardupilot · GitHub

UTC0008 - Add and use AP_RC_CHANNEL_ENABLED by peterbarker · Pull Request #23255 · ArduPilot/ardupilot · GitHub

UTC0012 - AP_NavEKF: ensure gyro biases are numbers by andyp1per · Pull Request #23251 · ArduPilot/ardupilot · GitHub

UTC0018 - Flywoo F745 v2 by andyp1per · Pull Request #23249 · ArduPilot/ardupilot · GitHub

UTC0020 - close